Position detecting method, device and storage medium for vehicle ladar

ABSTRACT

The present application provides a position detecting method, device and storage medium for a vehicle ladar, where the method includes: detecting, through a ladar disposed on an autonomous vehicle, detection data of at least one wall of an interior room in which the autonomous vehicle is located, obtaining a point cloud image according to the detection data of the at least one wall, and judging, according to the point cloud image, whether an installation position of the ladar is accurate. According to the technical solution, it is possible to accurately detect whether the installation position of the ladar is accurate, provide a prerequisite for calibration of the installation position of the ladar, and improve detection accuracy of the ladar for obstacles around the autonomous vehicle.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a continuation of U.S. patent application No. U.S.Ser. No. 16/726,821, filed on Dec. 24, 2019, which claims priority toChinese Patent Application No. 201811598528.8, filed on Dec. 26, 2018.The afore-mentioned patent applications are hereby incorporated byreference in their entireties.

TECHNICAL FIELD

The present application relates to the field of autonomous drivingtechnology, and in particular, to a position detecting method, deviceand storage medium for a vehicle ladar.

BACKGROUND

Ladar is one of the most powerful sensors in unmanned vehicles. It candetect a target position, speed and other features by emitting a laserbeam, and has characteristics of high measurement accuracy and gooddirectionality, playing an important role in the field of autonomousdriving.

In the prior art, the ladar is installed on an autonomous vehicle, whichmay be configured to detect obstacles around the autonomous vehicle, andprovide a reference for safe driving of the autonomous vehicle. However,the ladar is easily skewed during installation and, therefore, positiondetection for the installed ladar is required.

SUMMARY

The present application provides a position detecting method, device andstorage medium for a vehicle ladar to overcome the problem in the priorart that the ladar is easily skewed during installation.

In a first aspect of the present application, provided is a positiondetecting method for a vehicle ladar, including:

detecting, through a ladar disposed on an autonomous vehicle, detectiondata of at least one wall of an interior room in which the autonomousvehicle is located;

obtaining, according to the detection data of the at least one wall, apoint cloud image; and

judging, according to the point cloud image, whether an installationposition of the ladar is accurate.

In a possible design of the first aspect, before the judging, accordingto the point cloud image, whether the installation position of the ladaris accurate, the method includes:

presenting the point cloud image in a visualization interface.

In another possible design of the first aspect, the judging, accordingto the point cloud image, whether the installation position of the ladaris accurate includes:

judging whether each wall shown in the point cloud image is parallel toa boundary of the visualization interface on the same side as the wall;

determining that the installation position of the ladar is accurate ifeach wall shown by the point cloud image is parallel to the boundary ofthe visualization interface on the same side as the wall; and

determining that the installation position of the ladar is inaccurate ifthere is a wall among all walls shown by the point cloud image that isnot parallel to the boundary of the visualization interface on the sameside as the wall.

In still another possible design of the first aspect, the judging,according to the point cloud image, whether the installation position ofthe ladar is accurate includes:

obtaining spacings between adjacent concentric circles of a plurality ofconcentric circles formed by point clouds in the point cloud image;

judging whether the spacings between the adjacent concentric circles ofthe plurality of concentric circles are consistent;

determining that the installation position of the ladar is accurate ifthe spacings between the adjacent concentric circles of the plurality ofconcentric circles are consistent; and

determining that the installation position of the ladar is inaccurate ifthe spacings between the adjacent concentric circles of the plurality ofconcentric circles are inconsistent.

In still another possible design of the first aspect, after the judging,according to the point cloud image, whether the installation position ofthe ladar is accurate, the method further includes:

if it is determined that the installation position of the ladar isinaccurate, adjusting a rotation axis of the ladar to calibrate theinstallation position of the ladar.

In a second aspect of the present application, provided is a positiondetecting device for a vehicle ladar, including: a detecting module, anobtaining module and a judging module;

where the detecting module is configured to detect, through a ladardisposed on an autonomous vehicle, detection data of at least one wallof an interior room in which the autonomous vehicle is located;

the obtaining module is configured to obtain, according to the detectiondata of the at least one wall, a point cloud image; and

the judging module is configured to judge, according to the point cloudimage, whether an installation position of the ladar is accurate.

In a possible design of the second aspect, the device further includes:a presenting module;

where the presenting module is configured to: before the judging modulejudges, according to the point cloud image, whether the installationposition of the ladar is accurate, present the point cloud image in avisualization interface.

In another possible design of the second aspect, the judging moduleincludes: a first judging unit and a first determining unit;

the first judging unit is configured to judge whether each wall shown bythe point cloud image is parallel to a boundary of the visualizationinterface on the same side as the wall; and

the first determining unit is configured to determine that theinstallation position of the ladar is accurate when each wall shown inthe point cloud image is parallel to the boundary of the visualizationinterface on the same side as the wall, and determine that theinstallation position of the ladar is inaccurate when there is a wallamong all walls shown by the point cloud image that is not parallel tothe boundary of the visualization interface on the same side as thewall.

In still another possible design of the second aspect, the judgingmodule includes: an obtaining unit, a second judging unit and a seconddetermining unit;

the obtaining unit is configured to obtain spacings between adjacentconcentric circles of a plurality of concentric circles formed by pointclouds in the point cloud image;

the second judging unit is configured to judge whether the spacingsbetween the adjacent concentric circles of the plurality of concentriccircles are consistent; and

the second determining unit is configured to determine that theinstallation position of the ladar is accurate when the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare consistent, and determine that the installation position of theladar is inaccurate when the spacings between the adjacent concentriccircles of the plurality of concentric circles are inconsistent.

In still another possible design of the second aspect, the devicefurther includes: a calibrating module;

where the calibrating module is configured to: after the judging modulejudges, according to the point cloud image, whether the installationposition of the ladar is accurate, adjust a rotation axis of the ladarto calibrate the installation position of the ladar if it is determinedthat the installation position of the ladar is inaccurate.

In a third aspect of the present application, provided is a positiondetecting device for a vehicle ladar, including a processor, a memoryand a computer program stored on the memory and executable on theprocessor, where the processor, when executing the program, implementsthe method as described above according to the first aspect and variouspossible designs of the first aspect.

In a fourth aspect of the present application, provided is a storagemedium having stored therein an instruction which, when executable on acomputer, causes the computer to perform the method as described aboveaccording to the first aspect and various possible designs of the firstaspect.

In a fifth aspect of the present application, provided is a chip forrunning an instruction, where the chip is configured to perform themethod as described above according to the first aspect and variouspossible designs of the first aspect.

The position detecting method, device and storage medium for the vehicleladar provided in embodiments of the present application allow fordetecting, through a ladar disposed on an autonomous vehicle, detectiondata of at least one wall of an interior room in which the autonomousvehicle is located, obtaining a point cloud image according to thedetection data of the at least one wall, and finally judging, accordingto the point cloud image, whether an installation position of the ladaris accurate, thus it is possible to accurately detect whether theinstallation position of the ladar is accurate, provide a prerequisitefor calibration of the installation position of the ladar, and improvedetection accuracy of the ladar for obstacles around the autonomousvehicle.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram illustrating an application scenario of aposition detecting method for a vehicle ladar according to an embodimentof the present application;

FIG. 2 is a schematic flowchart illustrating a first embodiment of aposition detecting method for a vehicle ladar according to an embodimentof the present application;

FIG. 3 is a schematic flowchart illustrating a second embodiment of aposition detecting method for a vehicle ladar according to an embodimentof the present application;

FIG. 4 is a schematic diagram showing distribution of walls shown by apoint cloud image on a visualization interface;

FIG. 5 is a schematic flowchart illustrating a third embodiment of aposition detecting method for a vehicle ladar according to an embodimentof the present application;

FIG. 6 is a schematic diagram illustrating a plurality of concentriccircles formed by point clouds in a point cloud image;

FIG. 7 is a schematic flowchart illustrating a fourth embodiment of aposition detecting method for a vehicle ladar according to an embodimentof the present application;

FIG. 8 is a schematic structural diagram illustrating a first embodimentof a position detecting device for a vehicle ladar according to anembodiment of the present application;

FIG. 9 is a schematic structural diagram illustrating a secondembodiment of a position detecting device for a vehicle ladar accordingto an embodiment of the present application;

FIG. 10 is a schematic structural diagram illustrating a thirdembodiment of a position detecting device for a vehicle ladar accordingto an embodiment of the present application;

FIG. 11 is a schematic structural diagram illustrating a fourthembodiment of a position detecting device for a vehicle ladar accordingto an embodiment of the present application; and

FIG. 12 is a schematic structural diagram illustrating a fifthembodiment of a position detecting device for a vehicle ladar accordingto an embodiment of the present application.

DESCRIPTION OF EMBODIMENTS

In order to describe the purpose, technical solutions and advantages ofthe embodiments of the present application more clearly, the technicalsolutions in the embodiments of the present application are clearly andcompletely described in the following with reference to the accompanyingdrawings in the embodiments of the present application. Obviously, thedescribed embodiments are part of the embodiments of the presentapplication, rather than all of them. All other embodiments obtained bya person of ordinary skill in the art based on the embodiments of thepresent application without creative efforts are within the scope of thepresent application.

A position detecting method for a vehicle ladar provided in thefollowing embodiments of the present application can be applied to aninterior room. FIG. 1 is a schematic diagram illustrating an applicationscenario of a position detecting method for a vehicle ladar according toan embodiment of the present application. As shown in FIG. 1 , theposition detecting method for the vehicle ladar may have an applicationscenario including: an autonomous vehicle 12 parked within an interiorroom 11 and at least one ladar disposed on the autonomous vehicle 12.

Exemplarily, as shown in FIG. 1 , the interior room 11 may refer to aspace having walls on four sides, in other words, the interior room 11has a left wall 111, a front wall 112, a right wall 113, and a rear wall114. The orientation of each wall is an exemplary description; thenaming of each wall is not limited in the present embodiment, which canbe determined according to actual conditions.

Optionally, the number of ladars disposed on the autonomous vehicle 12may be three. For example, a first ladar 131 is disposed on the leftfront side of the autonomous vehicle 12, a second ladar 132 is disposedon the right front side of the autonomous vehicle 12, a third ladar 133is disposed in the middle of the roof of the autonomous vehicle 12, andthe number of ladars installed on the autonomous vehicle 12 is notlimited in the present embodiment.

In the present embodiment, “first”, “second”, and “third” are merelyexpression methods, only to distinguish a plurality of different ladars,moreover, the order of each ladar is not limited in the presentembodiment, and each ladar may have other names, which are not describedherein again.

In the present embodiment, each of the at least one ladar disposed onthe autonomous vehicle can detect at least one wall of the interior room11.

For example, the first ladar 131 disposed on the left front side of theautonomous vehicle 12 may detect the left wall 111, the front wall 112,and an angle between the left wall 111 and the front wall 112 of theinterior room 11. The second ladar 132 disposed on the right front sideof the autonomous vehicle 12 may detect the right wall 113, the frontwall 112, and an angle between the right wall 113 and the front wall 112of the interior room 11. The third ladar 133 disposed in the middle ofthe roof of the autonomous vehicle 12 may detect the left wall 111, thefront wall 112, the right wall 113, and the rear wall 114 of theinterior room 11.

It should be noted that a fourth ladar may be disposed on the rear sideof the autonomous vehicle 12, and the fourth ladar may detect the rearwall 114 of the interior room 11 and the like.

It should be noted that the number of ladars disposed on the autonomousvehicle 12 and their installation positions, together with the number ofwalls and their orientations the ladars can detect are not limited inthe present embodiment, any configuration may be used as long as theycan realize detection of surrounding obstacles, and can avoid trafficaccidents to some extent. The number of ladars and their installationpositions together with the number of walls and their orientations theladars can detect can be determined based on the configuration of eachautonomous vehicle.

Optionally, description is made by taking an example where the positiondetecting method for the vehicle ladar as shown in FIG. 1 may have anapplication scenario including the interior room 11, the autonomousvehicle 12, the at least one ladar, and the like. It should be notedthat, the application scenario may also include devices such as a devicethat is deployed in the interior room, and other sensing device that isdisposed on the autonomous vehicle. A specific composition of theapplication scenario of the position detecting method for the vehicleladar is not limited in the embodiment of the present application, andmay be limited according to actual conditions.

In view of the problem in the prior art that the ladar of the autonomousvehicle is easily skewed during installation, the embodiments of thepresent application provide a position detecting method, device andstorage medium for a vehicle ladar, which allow for detecting, through aladar disposed on an autonomous vehicle, detection data of at least onewall of an interior room in which the autonomous vehicle is located,obtaining a point cloud image according to the detection data of the atleast one wall, and finally judging, according to the point cloud image,whether an installation position of the ladar is accurate, thus it ispossible to accurately detect whether the installation position of theladar is accurate, provide a prerequisite for calibration of theinstallation position of the ladar, and improve detection accuracy ofthe ladar for obstacles around the autonomous vehicle.

The technical solutions of the present application are described indetail below by way of specific embodiments. It should be noted that thefollowing specific embodiments may be combined with each other, and thesame or similar concepts or processes may not be described in someembodiments.

FIG. 2 is a schematic flowchart illustrating a first embodiment of aposition detecting method for a vehicle ladar according to an embodimentof the present application. The position detecting method for thevehicle ladar can be applied to an autonomous vehicle. As shown in FIG.2 , the position detecting method for the vehicle ladar may include thefollowing steps:

Step 21: detecting, through a ladar disposed on an autonomous vehicle,detection data of at least one wall of an interior room in which theautonomous vehicle is located.

Exemplarily, in the present embodiment, if there is a desire todetermine whether the installation position of the ladar on theautonomous vehicle is accurate, the autonomous vehicle is firstcontrolled to enter the interior room. Optionally, the interior room maybe a space having the left wall 111, the front wall 112, the right wall113, and the rear wall 114 in the application scenario shown in FIG. 1 .

In the present embodiment, when the autonomous vehicle is parked in theinterior room, a laser beam is emitted by the ladar disposed on theautonomous vehicle, and the laser beam is used to detect the detectiondata of the at least one wall of the interior room in which theautonomous vehicle is located.

For example, description will be made by taking the first ladar disposedon the left front side of the autonomous vehicle as an example. Sincethe first ladar can detect the left wall and the front wall of theinterior room, the first ladar is used to detect detection data of theleft wall and the front wall of the interior room. It can be understoodthat, in the present embodiment, the first ladar is used to only detectthe detection data of the left wall or the front wall, with regard todetecting detection data of which wall, details is not described hereinagain.

Similarly, detection data of the right wall and/or the front wall of theinterior room can be detected by the second ladar disposed in the rightfront of the autonomous vehicle, and detection data of the left walland/or the right wall and/or the front wall and/or the rear wall of theinterior room can be detected by the third ladar disposed in the middleof the roof of the autonomous vehicle.

Step 22: obtaining a point cloud image according to the detection dataof the at least one wall.

It is well known that the ladar uses a time of flight (TOF) technology.Therefore, the autonomous vehicle emits a laser beam through a ladarinstalled on the vehicle, and calculates a relative distance between anobstacle and itself according to return time of the laser beam uponencounter with the obstacle. The laser beam can accurately measure therelative distance between contour edges of an object in the field ofview and the autonomous vehicle. This contour information may form apoint cloud image.

In the present embodiment, the detection data of the at least onedetected wall is integrated, that is, all the detection data may form apoint cloud image.

Exemplarily, for the detection data of the left wall detected by thefirst ladar disposed in the left front of the autonomous vehicle, sincethe wall is a plane, the point cloud image corresponding to thedetection data of the left wall is a line.

Step 23: judging, according to the point cloud image, whether aninstallation position of the ladar is accurate.

Exemplarily, in the present embodiment, the autonomous vehicle firstneeds to find a reference object before judging whether the installationposition of the ladar is accurate. For example, the point cloud imagemay be presented in a visualization interface, and it is determined,according to a presenting manner of the point cloud image, whether theinstallation position of the ladar is accurate.

Therefore, in the present embodiment, before Step 23, the method mayfurther include the following step:

presenting the point cloud image in a visualization interface.

In the present embodiment, after the point cloud image corresponding tothe detection data of the at least one wall is presented in thevisualization interface, it is judged, according to the shape of thepoint cloud image in the visualization interface or the positionalrelationship with the visualization interface, whether the installationposition of the ladar is accurate.

It should be noted that, in the present embodiment, if the point cloudimage presented on the visualization interface is not a top view, thepoint cloud image is firstly adjusted to a top view, so that it iseasier to judge whether a wall indicated by the point cloud image isparallel to a boundary of the visualization interface on the same sideas the wall, improving judgment accuracy.

For specific implementations of this step, reference may be made to thefollowing description of the embodiment shown in FIG. 3 or theembodiment shown in FIG. 5 , and details are not described herein again.

The position detecting method for the vehicle ladar provided in theembodiment of the present application allows for detecting, through aladar disposed on an autonomous vehicle, detection data of at least onewall of an interior room in which the autonomous vehicle is located,obtaining a point cloud image according to the detection data of the atleast one wall, and finally judging, according to the point cloud image,whether an installation position of the ladar is accurate. According tothe technical solution, it is possible to accurately detect whether theinstallation position of the ladar is accurate, provide a prerequisitefor calibration of the installation position of the ladar, and improvedetection accuracy of the ladar for obstacles around the autonomousvehicle.

Exemplarily, based on the foregoing embodiment, as an example, FIG. 3 isa schematic flowchart illustrating a second embodiment of a positiondetecting method for a vehicle ladar according to an embodiment of thepresent application. As shown in FIG. 3 , in the present embodiment,Step 23 (judging, according to the point cloud image, whether theinstallation position of the ladar is accurate) described above can beimplemented by the following steps:

Step 31: judging whether each wall shown by the point cloud image isparallel to a boundary of the visualization interface on the same sideas the wall; if yes, proceed with Step 32 and if no, proceed with Step33.

Optionally, in the present embodiment, after the point cloud imagedetected by a certain ladar is presented in the visualization interface,the number of walls and positions thereof indicated by the point cloudimage can be determined, and then judgment is made according to apositional relationship of each wall shown by the point cloud image witha boundary of the visualization interface on the same side as the wall.

Exemplarily, in the present embodiment, the position of the autonomousvehicle in the interior room is first parallel to the wall, and thevisualization interface on the autonomous vehicle is also parallel toeach wall of the interior room. Therefore, if the installation positionof the ladar is accurate, each wall shown by the point cloud imagedetected from the ladar should be parallel to the boundary of thevisualization interface on the same side as the wall.

For example, FIG. 4 is a schematic diagram showing distribution of wallsshown by a point cloud image on a visualization interface. As shown inFIG. 4 , a point cloud image detected by the first ladar installed inthe left front of the autonomous vehicle shows a left wall S1 and afront wall S20, and a point cloud image detected by the second ladarinstalled in the right front of the autonomous vehicle shows a rightwall S3 and the front wall S20, and thus whether the installationposition of the first ladar is accurate can be judged according towhether the left wall S1 is parallel to a left boundary P1 of thevisualization interface and whether the front wall S20 is parallel to afront boundary P2 of the visualization interface; similarly, whether theinstallation position of the second ladar is accurate can be judgedaccording to whether the right wall S3 is parallel to a right boundaryP3 of the visualization interface and whether the front wall S21 isparallel to a front boundary P2 of the visualization interface.

Step 32: determining that the installation position of the ladar isaccurate.

In the present embodiment, it is determined that the installationposition of the ladar is accurate if each wall shown by the point cloudimage is parallel to a boundary of the visualization interface on thesame side as the wall.

For example, referring to FIG. 4 above, in the present embodiment, if itis determined that the left wall S1 is parallel to the left boundary P1of the visualization interface and the front wall S20 is parallel to thefront boundary P2 of the visualization interface, that is, all the wallsshown by the point cloud image obtained by the first ladar are parallelto the boundaries on the same side as them, and thus it can bedetermined that the installation position of the ladar is accurate.

Step 33: determining that the installation position of the ladar isinaccurate.

In the present embodiment, it is determined that the installationposition of the ladar is inaccurate if there is a wall among all wallsshown by the point cloud image that is not parallel to the boundary ofthe visualization interface on the same side as the wall.

For example, referring to FIG. 4 above, in the present embodiment, if itis determined that the right wall S3 is not parallel to the rightboundary P3 of the visualization interface and/or the front wall S21 isnot parallel to the front boundary P2 of the visualization interface,that is, there is a phenomenon that all the walls shown by the pointcloud image obtained by the second ladar are not parallel to theboundaries on the same side as them, and thus it can be determined thatthe installation position of the ladar is inaccurate.

The position detecting method for the vehicle ladar provided in theembodiment of the present application allows for judging whether eachwall shown by the point cloud image is parallel to a boundary of thevisualization interface on the same side as the wall, determining thatthe installation position of the ladar is accurate if each wall shown bythe point cloud image is parallel to the boundary of the visualizationinterface on the same side as the wall, and determining that theinstallation position of the ladar is inaccurate if there is a wallamong all walls shown by the point cloud image that is not parallel tothe boundary of the visualization interface on the same side as thewall. The technical solution allows for comparing a wall shown by thepoint cloud image with a boundary of the visualization interface, theimplementation scheme is simple and easy to implement, and detectionaccuracy is high.

Exemplarily, based on the foregoing embodiment, as another example, FIG.5 is a schematic flowchart illustrating a third embodiment of a positiondetecting method for a vehicle ladar according to an embodiment of thepresent application. As shown in FIG. 5 , In the present embodiment,Step 23 (judging, according to the point cloud image, whether theinstallation position of the ladar is accurate) described above can beimplemented by the following steps:

Step 51: obtaining spacings between adjacent concentric circles of aplurality of concentric circles formed by point clouds in the pointcloud image.

Exemplarily, each ladar can emit a plurality of scan lines to detect anobstacle having a different distance from the autonomous vehicle.Therefore, in the present embodiment, each ladar can be controlled toemit a plurality of scan lines, so that point clouds in the point cloudimage formed on the visualization interface can form concentric circleswith different radii. Correspondingly, the spacings between the adjacentconcentric circles of the plurality of concentric circles can becalculated and obtained, which are used as a basis for judging whetherthe installation position of the ladar is accurate.

Step 52: judging whether the spacings between the adjacent concentriccircles of the plurality of concentric circles are consistent; if yes,proceed with Step 53 and if no, proceed with Step 54.

Generally, point clouds corresponding to a plurality of scan linesemitted by the same ladar can form a series of concentric circles, andspacings between adjacent ones of the concentric circles are consistent.Therefore, in the present embodiment, after the spacings between theadjacent ones of the concentric circles formed by the point clouds inthe point cloud image are acquired, it can be judged whether all thespacings are consistent.

Step 53: determining that the installation position of the ladar isaccurate.

Exemplarily, in the present embodiment, it is determined that theinstallation position of the ladar is accurate if the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare consistent.

Step 54: determining that the installation position of the ladar isinaccurate.

Exemplarily, it is determined that the installation position of theladar is inaccurate if the spacings between the adjacent concentriccircles of the plurality of concentric circles are inconsistent.

Exemplarily, FIG. 6 is a schematic diagram illustrating a plurality ofconcentric circles formed by point clouds in a point cloud image. Asshown in FIG. 6 , in the present embodiment, for the point cloud imagedetected by the first ladar installed in the left front of theautonomous vehicle, exemplarily, it is assumed that the point clouds inthe point cloud image constitute a concentric circle 61, a concentriccircle 62, a concentric circle 63 and a concentric circle 64, and thelike.

In the present embodiment, it can be judged whether the installationposition of the first ladar is accurate by obtaining distances betweenadjacent concentric circles, for example, a spacing between theconcentric circle 61 and the concentric circle 62 is d1, a spacingbetween the concentric circle 62 and the concentric circle 63 is d2, anda spacing between the concentric circle 63 and the concentric circle 64is d3, and by judging whether the spacing d1, the spacing d2, and thespacing d3 are consistent.

That is, if the spacing d1, the spacing d2, and the spacing d3 areidentical, it indicates that the installation position of the firstladar is accurate; otherwise it indicates that the installation positionof the first ladar is inaccurate.

The position detecting method for the vehicle ladar provided in theembodiment of the present application allows for obtaining spacingsbetween adjacent concentric circles of a plurality of concentric circlesformed by point clouds in the point cloud image, and judging whether thespacings between the adjacent concentric circles of the plurality ofconcentric circles are consistent, if yes, determining that theinstallation position of the ladar is accurate, and if no, determiningthat the installation position of the ladar is inaccurate. In thetechnical solution, whether the installation position of the ladar isaccurate is judged by whether the spacings between the concentriccircles formed by the point clouds in the point cloud image areconsistent, detection accuracy is improved, and efficiency is high.

Exemplarily, based on any of the above embodiments, FIG. 7 is aschematic flowchart illustrating a fourth embodiment of a positiondetecting method for a vehicle ladar according to an embodiment of thepresent application. As shown in FIG. 7 , in the present embodiment,after Step 23 (determining, according to the point cloud image, whetherthe installation position of the ladar is accurate) described above, themethod may further include the following steps:

Step 71: adjusting a rotation axis of the ladar to calibrate theinstallation position of the ladar if it is determined that theinstallation position of the ladar is inaccurate.

Optionally, in the present embodiment, when it is determined that theinstallation position of the ladar installed on the autonomous vehicleis inaccurate, the installation position of the ladar needs to becalibrated to ensure driving safety of the autonomous vehicle.

For example, when using the scheme that whether each wall shown by thepoint cloud image is parallel to the boundary of the visualizationinterface on the same side as the wall to detect whether theinstallation position of the ladar is accurate, if the installationposition of the first ladar installed in the left front of theautonomous vehicle is inaccurate, the rotation axis of the ladar can beadjusted so that the left wall in the point cloud image is parallel tothe left edge of the visualization interface and the front wall in thepoint cloud image is parallel to the upper edge of the visualizationinterface to make the installation position of the ladar accurate.

As another example, generally, the inclined direction of the rotationaxis of the ladar determines that a spacing between concentric circlesin this direction is narrow. Therefore, when spacings between adjacentconcentric circles of a plurality of concentric circles formed by pointclouds in the point cloud image are used to detect whether theinstallation position of the ladar is accurate, the position cloud imagecan be observed to first determine position information of a narrowerspacing in the point cloud image, and adjust the rotation axis of theladar according to the position information, so that the concentriccircles in the point cloud image are equally spaced to make theinstallation position of the ladar accurate.

The position detecting method for the vehicle ladar provided in thepresent embodiment allows for, when it is determined that theinstallation position of the ladar is inaccurate, adjusting the rotationaxis of the ladar to calibrate the installation position of the ladar,which realizes position calibration of the ladar on the autonomousvehicle, improves detection accuracy of the ladar for obstacles aroundthe autonomous vehicle, and improves driving accuracy of the autonomousvehicle.

The following describes device embodiments of the present application,which may be used to implement the method embodiments of the presentapplication. For details not disclosed in the device embodiments of thepresent application, please refer to the method embodiments of thepresent application.

FIG. 8 is a schematic structural diagram illustrating a first embodimentof a position detecting device for a vehicle ladar according to anembodiment of the present application. The device can be integrated inan autonomous vehicle. As shown in FIG. 8 , the device may include: adetecting module 81, an obtaining module 82 and a judging module 83.

Among them, the detecting module 81 is configured to detect, through aladar disposed on an autonomous vehicle, detection data of at least onewall of an interior room in which the autonomous vehicle is located;

the obtaining module 82 is configured to obtain, according to thedetection data of the at least one wall, a point cloud image; and

the judging module 83 is configured to judge, according to the pointcloud image, whether an installation position of the ladar is accurate.

Exemplarily, in a possible design of the embodiment, as shown in FIG. 8, the device may further include: a presenting module 80.

The presenting module 80 is configured to: before the judging module 83judges, according to the point cloud image, whether the installationposition of the ladar is accurate, present the point cloud image in avisualization interface.

Exemplarily, as an example, FIG. 9 is a schematic structural diagramillustrating a second embodiment of a position detecting device for avehicle ladar according to an embodiment of the present application. Asshown in FIG. 9 , in the present embodiment, the above judging module 83may include: a first judging unit 91 and a first determining unit 92.

Among them, the first judging unit 91 is configured to judge whethereach wall shown by the point cloud image is parallel to a boundary ofthe visualization interface on the same side as the wall; and

the first determining unit 92 is configured to determine that theinstallation position of the ladar is accurate when each wall shown bythe point cloud image is parallel to the boundary of the visualizationinterface on the same side as the wall, and determine that theinstallation position of the ladar is inaccurate when there is a wallamong all walls shown by the point cloud image that is not parallel tothe boundary of the visualization interface on the same side as thewall.

Exemplarily, as another example, FIG. 10 is a schematic structuraldiagram illustrating a third embodiment of a position detecting devicefor a vehicle ladar according to an embodiment of the presentapplication. As shown in FIG. 10 , in the present embodiment, the abovejudging module 83 may include: an obtaining unit 101, a second judgingunit 102 and a second determining unit 103.

Among them, the obtaining unit 101 is configured to obtain spacingsbetween adjacent concentric circles of a plurality of concentric circlesformed by point clouds in the point cloud image;

the second determining unit 102 is configured to judge whether thespacings between the adjacent concentric circles of the plurality ofconcentric circles are consistent; and

the second determining unit 103 is configured to determine that theinstallation position of the ladar is accurate when the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare consistent, and determine that the installation position of theladar is inaccurate when the spacings between thee adjacent concentriccircles of the plurality of concentric circles are inconsistent.

Exemplarily, based on the foregoing embodiment, FIG. 11 is a schematicstructural diagram illustrating a fourth embodiment of a positiondetecting device for a vehicle ladar according to an embodiment of thepresent application. As shown in FIG. 11 , in the present embodiment,the device further includes: a calibrating module 84.

The calibrating module 84 is configured to: after the judging module 84judges, according to the point cloud image, whether the installationposition of the ladar is accurate, adjust a rotation axis of the ladarto calibrate the installation position of the ladar if it is determinedthat the installation position of the ladar is inaccurate,

The device provided in the embodiment of the present application can beused to perform the method in the embodiments shown in FIG. 2 to FIG. 7; implementation principles and technical effects therebetween aresimilar, and details are not described herein again.

It should be noted that the division of the modules of the above deviceis only a division of logical functions which may be integrated into onephysical entity in whole or in part during an actual implementation ormay be physically separated. Moreover, these modules can all beimplemented by software in a form of calling processing elements; or allof them can be implemented in a form of hardware; or some modules can beimplemented by software in a form of calling processing components, andsome modules are implemented in a form of hardware. For example, thedetermining module may be a separately arranged processing element, ormay be integrated in a particular chip of the above device, in addition,may be stored in a memory of the above device in the form of programcodes, and functions of the above determining module are called by aparticular processing element of the above device. Implementations ofother modules are similar thereto. In addition, all or part of thesemodules can be integrated or implemented independently. The processingelements described herein can be an integrated circuit with signalprocessing capabilities. In the implementation process, each step of theabove method or each of the above modules may be completed by anintegrated logic circuit of hardware in the processor element or aninstruction in a form of software.

For example, the above modules may be one or more integrated circuitsconfigured to implement the above method, such as one or moreapplication specific integrated circuits (ASIC), or one or more digitalsignal processors (DSP), or one or more field programmable gate arrays(FPGA), and the like. For another example, when one of the above modulesis implemented in a form of a processing element scheduling programcodes, the processing element can be a general purpose processor, suchas a central processing unit (CPU) or other processor that can invokethe program codes. For another example, these modules can be integratedand implemented in a form of a system-on-a-chip (SOC).

In the above embodiments, it may be implemented in whole or in part bysoftware, hardware, firmware, or any combination thereof. Whenimplemented in software, it may be implemented in whole or in part inthe form of a computer program product. The computer program productincludes one or more computer instructions. When the computer programinstructions are loaded and executed on a computer, the processes orfunctions described in accordance with embodiments of the presentapplication are generated in whole or in part. The computer can be ageneral purpose computer, a special purpose computer, a computernetwork, or other programmable device. The computer instructions can bestored in a computer readable storage medium or transmitted from onecomputer readable storage medium to another computer readable storagemedium, for example, the computer instructions can be transmitted fromone website, computer, server or data center to another website,computer, server or data center in a wired manner (for example, acoaxial cable, an optic fiber, a digital subscriber line (DSL)) or awireless manner (for example, infrared, radio, microwave, etc.). Thecomputer readable storage medium can be any available medium that can beaccessed by a computer or a data storage device such as an integratedserver, data center, or the like that includes one or more availablemedia. The available medium may be a magnetic medium (for example, afloppy disk, a hard disk, a magnetic tape), an optical medium (forexample, a DVD), or a semiconductor medium (for example, a solid statedisk (SSD)) or the like.

FIG. 12 is a schematic structural diagram illustrating a fifthembodiment of a position detecting device for a vehicle ladar accordingto an embodiment of the present application. As shown in FIG. 12 , thedevice may include: a processor 121, a memory 122, a communicationinterface 123 and a system bus 124, where the memory 122 and thecommunication interface 123 are connected to the processor 121 via thesystem bus 124 and complete communication with each other. The memory122 is configured to store computer executable instructions, thecommunication interface 123 is configured to communicate with otherdevices, and the processor 121, when executing the computer program,implements the technical solutions of the embodiments shown in FIG. 2 toFIG. 7 .

The system bus mentioned in FIG. 12 may be a peripheral componentinterconnect (PCI) bus or an extended industry standard architecture(EISA) bus. The system bus can be divided into an address bus, a databus, a control bus, and the like. For ease of representation, only onethick line is shown in the figure, but it does not mean that there isonly one bus or one type of bus. The communication interface is used toimplement communications between a database access device and otherdevice such as a client, a read-write library, and a read-only library.The memory may include a random access memory (RAM), and may alsoinclude a non-volatile memory, such as at least one disk memory.

The above processor may be a general-purpose processor, including acentral processing unit CPU, a network processor (NP), etc.; or may be adigital signal processor DSP, an application specific integrated circuitASIC, a field programmable gate array FPGA, or other programmable logicdevice, discrete gate, transistor logic device, or discrete hardwarecomponent.

Optionally, the embodiment of the present application further provides astorage medium, where the storage medium is stored with instructionswhich, when running on the computer, cause the computer to perform themethod as described above in the embodiments shown in FIG. 2 to FIG. 7 .

Optionally, the embodiment of the present application further provides achip for running an instruction, where the chip is configured to performthe method as described above in the embodiments shown in FIG. 2 to FIG.7 .

The embodiment of the present application further provides a programproduct, where the program product includes a computer program which isstored in a storage medium, at least one processor can read the computerprogram from the storage medium, and the at least one processor, whenexecuting the computer program, can implement the method as describedabove in the embodiments shown in FIG. 2 to FIG. 7 .

In the present application, “at least one” means one or more, and “aplurality of” means two or more. The expression such as “and/or” isintended to describe an association between associated objects, whichindicates that there may be three relationships, for example, A and/or Bmay indicate presence of A only, of both A and B, and of B only, whereeither A or B may be in a singular or plural form. The character “/”generally indicates that contextual objects have an “or” relationship;in the formula, the character “I” indicates that the contextual objectshave a “divide” relationship. “At least one of the following” or asimilar expression thereof refers to any combination of these items,including any combination of a single item or a plurality of items. Forexample, at least one of a, b, or c may represent: a, b, c, a-b, a-c,b-c, or a-b-c, where a, b, c may be in a singular or plural form.

It can be understood that various numbers involved in the embodiments ofthe present application are not intended to limit the scope of theembodiments of the present application, but are distinguished for easeof description.

It can be understood that, in the embodiments of the presentapplication, the sequence numbers of the above processes do not mean anorder of execution, and the order of execution of each process should bedetermined by its function and internal logic, and should not constituteany limitation on the implementation process of the embodiments of thepresent application.

Finally, it should be noted that the above embodiments are only used toexplain the technical solutions of the present application, but not tolimit the present application; although the present application has beendescribed in detail with reference to the foregoing embodiments, thoseof ordinary skill in the art should understand that they can still makemodifications to the technical solutions described in the foregoingembodiments, or make equivalent replacements to some or all of thetechnical features; however, these modifications or replacements do notmake the essence of the corresponding technical solutions depart fromthe scope of the technical solutions of the embodiments of the presentapplication.

What is claimed is:
 1. A position detecting method for a vehicle ladar,comprising: detecting, through a ladar disposed on an autonomousvehicle, detection data of at least one wall of an interior room inwhich the autonomous vehicle is located; obtaining, according to thedetection data of the at least one wall, a point cloud image; andjudging, according to the point cloud image, whether an installationposition of the ladar is accurate, wherein the judging, according to thepoint cloud image, whether the installation position of the ladar isaccurate comprises: obtaining spacings between adjacent concentriccircles of a plurality of concentric circles formed by point clouds inthe point cloud image; judging whether the spacings between the adjacentconcentric circles of the plurality of concentric circles areconsistent; determining that the installation position of the ladar isaccurate if the spacings between the adjacent concentric circles of theplurality of concentric circles are consistent; and determining that theinstallation position of the ladar is inaccurate if the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare inconsistent.
 2. The method according to claim 1, wherein before thejudging, according to the point cloud image, whether the installationposition of the ladar is accurate, the method comprises: presenting thepoint cloud image in a visualization interface.
 3. The method accordingto claim 1, wherein after the judging, according to the point cloudimage, whether the installation position of the ladar is accurate, themethod further comprises: if it is determined that the installationposition of the ladar is inaccurate, adjusting a rotation axis of theladar to calibrate the installation position of the ladar.
 4. A positiondetecting device for a vehicle ladar, comprising a processor, a memoryand a computer program stored on the memory and executable on theprocessor, wherein the processor, when executing the program, beingconfigured to: detect, through a ladar disposed on an autonomousvehicle, detection data of at least one wall of an interior room inwhich the autonomous vehicle is located; obtain, according to thedetection data of the at least one wall, a point cloud image; and judge,according to the point cloud image, whether an installation position ofthe ladar is accurate, wherein the processor is further configured to:obtain spacings between adjacent concentric circles of a plurality ofconcentric circles formed by point clouds in the point cloud image;judge whether the spacings between the adjacent concentric circles ofthe plurality of concentric circles are consistent; determine that theinstallation position of the ladar is accurate if the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare consistent; and determine that the installation position of theladar is inaccurate if the spacings between the adjacent concentriccircles of the plurality of concentric circles are inconsistent.
 5. Thedevice according to claim 4, wherein the processor is further configuredto: present the point cloud image in a visualization interface.
 6. Thedevice according to claim 4, wherein the processor is further configuredto: if it is determined that the installation position of the ladar isinaccurate, adjust a rotation axis of the ladar to calibrate theinstallation position of the ladar.
 7. A storage medium having storedtherein an instruction which, when executed by a computer, implementsthe steps of: detecting, through a ladar disposed on an autonomousvehicle, detection data of at least one wall of an interior room inwhich the autonomous vehicle is located; obtaining, according to thedetection data of the at least one wall, a point cloud image; andjudging, according to the point cloud image, whether an installationposition of the ladar is accurate, wherein the storage medium furthercomprises computer execution instruction which, when executed by aprocessor, implements the steps of: obtaining spacings between adjacentconcentric circles of a plurality of concentric circles formed by pointclouds in the point cloud image; judging whether the spacings betweenthe adjacent concentric circles of the plurality of concentric circlesare consistent; determining that the installation position of the ladaris accurate if the spacings between the adjacent concentric circles ofthe plurality of concentric circles are consistent; and determining thatthe installation position of the ladar is inaccurate if the spacingsbetween the adjacent concentric circles of the plurality of concentriccircles are inconsistent.
 8. The storage medium according to claim 7,wherein the storage medium further comprises computer executioninstruction which, when executed by a processor, implements the step of:presenting the point cloud image in a visualization interface.
 9. Thestorage medium according to claim 7, wherein the storage medium furthercomprises computer execution instruction which, when executed by aprocessor, implements the steps of: if it is determined that theinstallation position of the ladar is inaccurate, adjusting a rotationaxis of the ladar to calibrate the installation position of the ladar.